EP3763488A4 - Dispositif de commande, procédé de commande, et système maître/esclave - Google Patents

Dispositif de commande, procédé de commande, et système maître/esclave Download PDF

Info

Publication number
EP3763488A4
EP3763488A4 EP19774840.3A EP19774840A EP3763488A4 EP 3763488 A4 EP3763488 A4 EP 3763488A4 EP 19774840 A EP19774840 A EP 19774840A EP 3763488 A4 EP3763488 A4 EP 3763488A4
Authority
EP
European Patent Office
Prior art keywords
master
slave system
control device
control method
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19774840.3A
Other languages
German (de)
English (en)
Other versions
EP3763488A1 (fr
Inventor
Yuki ITOTANI
Hiromasa Masuda
Atsushi Miyamoto
Kazuhito WAKANA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sony Group Corp
Original Assignee
Sony Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sony Corp filed Critical Sony Corp
Publication of EP3763488A1 publication Critical patent/EP3763488A1/fr
Publication of EP3763488A4 publication Critical patent/EP3763488A4/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00188—Optical arrangements with focusing or zooming features
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/69—Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
EP19774840.3A 2018-03-28 2019-03-04 Dispositif de commande, procédé de commande, et système maître/esclave Pending EP3763488A4 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018061789 2018-03-28
JP2019007798 2019-01-21
PCT/JP2019/008433 WO2019188022A1 (fr) 2018-03-28 2019-03-04 Dispositif de commande, procédé de commande, et système maître/esclave

Publications (2)

Publication Number Publication Date
EP3763488A1 EP3763488A1 (fr) 2021-01-13
EP3763488A4 true EP3763488A4 (fr) 2021-05-12

Family

ID=68059025

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19774840.3A Pending EP3763488A4 (fr) 2018-03-28 2019-03-04 Dispositif de commande, procédé de commande, et système maître/esclave

Country Status (4)

Country Link
US (1) US11992942B2 (fr)
EP (1) EP3763488A4 (fr)
CN (1) CN111886113B (fr)
WO (1) WO2019188022A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7569203B2 (ja) 2019-12-13 2024-10-17 川崎重工業株式会社 ロボットシステム、その制御方法及びプログラム
CN112155613B (zh) * 2020-09-14 2021-10-22 武汉联影智融医疗科技有限公司 一种微创医疗手术设备

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4661032A (en) * 1984-12-20 1987-04-28 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Bilateral master-slave manipulator control device
JP2001150368A (ja) * 1999-11-24 2001-06-05 Olympus Optical Co Ltd マニピュレータ制御装置

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2824134B2 (ja) * 1990-08-13 1998-11-11 株式会社日立製作所 異構造マスタスレーブマニピュレータの制御装置
JP3668269B2 (ja) 1995-01-10 2005-07-06 オリンパス株式会社 体腔内手術用マニピュレータ装置
JP3539645B2 (ja) * 1995-02-16 2004-07-07 株式会社日立製作所 遠隔手術支援装置
US6714839B2 (en) * 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
JP2001334481A (ja) * 2000-05-30 2001-12-04 Olympus Optical Co Ltd マニピュレータ制御装置
US8079950B2 (en) * 2005-09-29 2011-12-20 Intuitive Surgical Operations, Inc. Autofocus and/or autoscaling in telesurgery
US8335590B2 (en) * 2008-12-23 2012-12-18 Intuitive Surgical Operations, Inc. System and method for adjusting an image capturing device attribute using an unused degree-of-freedom of a master control device
JP5800610B2 (ja) 2011-07-07 2015-10-28 オリンパス株式会社 医療用マスタスレーブマニピュレータ
JP5800616B2 (ja) * 2011-07-15 2015-10-28 オリンパス株式会社 マニピュレータシステム
EP3119286B1 (fr) * 2014-03-19 2024-05-01 Intuitive Surgical Operations, Inc. Dispositifs médicaux et systèmes utilisant le suivi du regard
WO2015146850A1 (fr) 2014-03-28 2015-10-01 ソニー株式会社 Dispositif de bras robotique, et procédé et programme de commande de dispositif de bras robotique
EP3185808B1 (fr) * 2014-08-27 2022-02-23 DistalMotion SA Système chirurgical pour techniques de microchirurgie
JP6471446B2 (ja) * 2014-10-01 2019-02-20 株式会社デンソーウェーブ ロボット操作装置、ロボットシステム、及びロボット操作プログラム
US11037464B2 (en) * 2016-07-21 2021-06-15 Auris Health, Inc. System with emulator movement tracking for controlling medical devices

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4661032A (en) * 1984-12-20 1987-04-28 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Bilateral master-slave manipulator control device
JP2001150368A (ja) * 1999-11-24 2001-06-05 Olympus Optical Co Ltd マニピュレータ制御装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2019188022A1 *

Also Published As

Publication number Publication date
CN111886113A (zh) 2020-11-03
US20210008709A1 (en) 2021-01-14
WO2019188022A1 (fr) 2019-10-03
CN111886113B (zh) 2024-10-11
EP3763488A1 (fr) 2021-01-13
US11992942B2 (en) 2024-05-28

Similar Documents

Publication Publication Date Title
EP3358469A4 (fr) Système de communication, dispositif, dispositif maître, dispositif esclave, procédé de commande de système de communication et programme
EP3624089A4 (fr) Dispositif de commande de véhicule, procédé de commande de véhicule et programme de commande de véhicule
EP3661147A4 (fr) Procédé de commande, appareil de commande et système de commande pour dispositif intelligent
EP3584995A4 (fr) Procédé, dispositif et système permettant de mettre en oeuvre une commande de stratégie
EP3896481A4 (fr) Dispositif de transmission, système de commande et procédé de transmission
EP3399777A4 (fr) Procédé de connexion automatique bluetooth, dispositif maître, dispositif esclave et système
EP3747719A4 (fr) Dispositif de commande de véhicule, procédé de commande pour celui-ci, et système de commande de véhicule
EP3542230A4 (fr) Procédé, appareil et système de commande
EP3492037A4 (fr) Dispositif, système et procédé de commande
EP3674210A4 (fr) Procédé de commande d'objet mobile, dispositif et système
EP3808623A4 (fr) Dispositif de commande de véhicule, procédé de commande de véhicule et système de commande de véhicule
EP3825077A4 (fr) Dispositif de commande, procédé de commande, et système de commande
EP3661258A4 (fr) Procédé, dispositif, et système d'obtention d'informations de commande
EP3504959A4 (fr) Dispositif de commande, procédé de commande, et système de commande
EP3595375A4 (fr) Procédé, dispositif, et système de configuration de direction de transmission
EP3733452A4 (fr) Système de phare de véhicule, dispositif de commande de phare de véhicule et procédé de commande de phare de véhicule
EP3741636A4 (fr) Procédé de commande de véhicule, dispositif de commande pour système de véhicule, et véhicule
EP3684092A4 (fr) Procédé de commande de transmission, dispositif associé, et système
EP3683991A4 (fr) Procédé, dispositif et système de commande de transmission
EP3733473A4 (fr) Procédé de commande de véhicule, système de véhicule et dispositif de commande de véhicule
EP3764700A4 (fr) Procédé, dispositif et système de commande
EP3738816A4 (fr) Procédé de commande de véhicule, et dispositif de commande pour système de véhicule et véhicule
EP3817290A4 (fr) Procédé de changement d'élément pour système distribué, et système distribué
EP3822138A4 (fr) Dispositif de commande de véhicule, procédé de commande de véhicule et système de commande de véhicule
EP3816746A4 (fr) Système de production, procédé de production et dispositif de commande

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20200910

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

A4 Supplementary search report drawn up and despatched

Effective date: 20210412

RIC1 Information provided on ipc code assigned before grant

Ipc: B25J 3/00 20060101AFI20210406BHEP

Ipc: A61B 34/37 20160101ALI20210406BHEP

Ipc: B25J 3/04 20060101ALI20210406BHEP

Ipc: B25J 13/08 20060101ALI20210406BHEP

Ipc: B25J 19/02 20060101ALI20210406BHEP

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
RAP3 Party data changed (applicant data changed or rights of an application transferred)

Owner name: SONY GROUP CORPORATION